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fix window_size setter, remove camera related old methods from viz3d

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pull/1453/head
ozantonkal 12 years ago
parent 439ba98e0a
commit f060eee5a5
3 changed files with 25 additions and 151 deletions
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  1. 6
      modules/viz/src/types.cpp
  2. 148
      modules/viz/src/viz3d_impl.cpp
  3. 22
      modules/viz/src/viz3d_impl.hpp

6
modules/viz/src/types.cpp
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@ -165,10 +165,10 @@ cv::viz::Camera2::Camera2(const Vec2f &fov, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01)); // Default clipping
window_size_ = window_size;
fov_ = fov;
principal_point_ = Vec2f(-1.0f, -1.0f); // Default symmetric lens
focal_ = Vec2f(-1.0f, -1.0f);
setFov(fov);
setWindowSize(window_size);
}
cv::viz::Camera2::Camera2(const cv::Mat & K, const Size &window_size)
@ -195,6 +195,8 @@ void cv::viz::Camera2::setWindowSize(const Size &window_size)
fov_[0] = 2 * atan2(tan(fov_[1] * 0.5), aspect_ratio_new); // This assumes that the lens is symmetric!
else
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])) * 180 / CV_PI;
window_size_ = window_size;
}
void cv::viz::Camera2::computeProjectionMatrix(Matx44f &proj) const

148
modules/viz/src/viz3d_impl.cpp
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@ -542,25 +542,12 @@ bool cv::viz::Viz3d::VizImpl::setShapeRenderingProperties (int property, double
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::initCameraParameters ()
{
Camera camera_temp;
// Set default camera parameters to something meaningful
camera_temp.clip = Vec2d(0.01, 1000.01);
// Look straight along the z-axis
camera_temp.focal = Vec3d(0.0, 0.0, 1.0);
// Position the camera at the origin
camera_temp.pos = Vec3d(0.0, 0.0, 0.0);
// Set the up-vector of the camera to be the y-axis
camera_temp.view_up = Vec3d(0.0, 1.0, 0.0);
// Set the camera field of view to about
camera_temp.fovy = 0.8575;
camera_temp.window_size = Vec2i(window_->GetScreenSize()) / 2;
camera_temp.window_pos = Vec2i(0, 0);
setCameraParameters (camera_temp);
Vec2i window_size(window_->GetScreenSize());
window_size /= 2;
Camera2 camera_temp(Vec2f(0.0,0.8575), Size(window_size[0], window_size[1]));
setCamera(camera_temp);
setViewerPose(makeCameraPose(Vec3f(0.0f,0.0f,0.0f), Vec3f(0.0f, 0.0f, 1.0f), Vec3f(0.0f, 1.0f, 0.0f)));
}
/////////////////////////////////////////////////////////////////////////////////////////////
@ -577,19 +564,19 @@ void cv::viz::Viz3d::VizImpl::updateCamera ()
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::getCameras (cv::viz::Camera& camera)
{
vtkCamera* active_camera = renderer_->GetActiveCamera ();
camera.pos = cv::Vec3d(active_camera->GetPosition());
camera.focal = cv::Vec3d(active_camera->GetFocalPoint());
camera.clip = cv::Vec2d(active_camera->GetClippingRange());
camera.view_up = cv::Vec3d(active_camera->GetViewUp());
camera.fovy = active_camera->GetViewAngle()/ 180.0 * CV_PI;
camera.window_size = cv::Vec2i(renderer_->GetRenderWindow()->GetSize());
camera.window_pos = cv::Vec2d::all(0);
}
// void cv::viz::Viz3d::VizImpl::getCameras (cv::viz::Camera& camera)
// {
// vtkCamera* active_camera = renderer_->GetActiveCamera ();
//
// camera.pos = cv::Vec3d(active_camera->GetPosition());
// camera.focal = cv::Vec3d(active_camera->GetFocalPoint());
// camera.clip = cv::Vec2d(active_camera->GetClippingRange());
// camera.view_up = cv::Vec3d(active_camera->GetViewUp());
//
// camera.fovy = active_camera->GetViewAngle()/ 180.0 * CV_PI;
// camera.window_size = cv::Vec2i(renderer_->GetRenderWindow()->GetSize());
// camera.window_pos = cv::Vec2d::all(0);
// }
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCamera(const Camera2 &camera)
@ -704,105 +691,10 @@ void cv::viz::Viz3d::VizImpl::resetCamera ()
renderer_->ResetCamera ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCameraPosition (const cv::Vec3d& pos, const cv::Vec3d& view, const cv::Vec3d& up)
{
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetPosition (pos[0], pos[1], pos[2]);
cam->SetFocalPoint (view[0], view[1], view[2]);
cam->SetViewUp (up[0], up[1], up[2]);
renderer_->Render ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z)
{
//rens_->InitTraversal ();
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetPosition (pos_x, pos_y, pos_z);
cam->SetViewUp (up_x, up_y, up_z);
renderer_->Render ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCameraParameters (const cv::Matx33f& intrinsics, const cv::Affine3f& extrinsics)
{
// Position = extrinsic translation
cv::Vec3f pos_vec = extrinsics.translation();
// Rotate the view vector
cv::Matx33f rotation = extrinsics.rotation();
cv::Vec3f y_axis (0.f, 1.f, 0.f);
cv::Vec3f up_vec (rotation * y_axis);
// Compute the new focal point
cv::Vec3f z_axis (0.f, 0.f, 1.f);
cv::Vec3f focal_vec = pos_vec + rotation * z_axis;
// Get the width and height of the image - assume the calibrated centers are at the center of the image
Eigen::Vector2i window_size;
window_size[0] = static_cast<int> (intrinsics(0, 2));
window_size[1] = static_cast<int> (intrinsics(1, 2));
// Compute the vertical field of view based on the focal length and image heigh
double fovy = 2 * atan (window_size[1] / (2. * intrinsics (1, 1))) * 180.0 / M_PI;
//rens_->InitTraversal ();
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetPosition (pos_vec[0], pos_vec[1], pos_vec[2]);
cam->SetFocalPoint (focal_vec[0], focal_vec[1], focal_vec[2]);
cam->SetViewUp (up_vec[0], up_vec[1], up_vec[2]);
cam->SetUseHorizontalViewAngle (0);
cam->SetViewAngle (fovy);
cam->SetClippingRange (0.01, 1000.01);
window_->SetSize (window_size[0], window_size[1]);
renderer_->Render ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCameraParameters (const cv::viz::Camera &camera)
{
//rens_->InitTraversal ();
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetPosition (camera.pos[0], camera.pos[1], camera.pos[2]);
cam->SetFocalPoint (camera.focal[0], camera.focal[1], camera.focal[2]);
cam->SetViewUp (camera.view_up[0], camera.view_up[1], camera.view_up[2]);
cam->SetClippingRange (camera.clip.val);
cam->SetUseHorizontalViewAngle (0);
cam->SetViewAngle (camera.fovy * 180.0 / M_PI);
window_->SetSize (static_cast<int> (camera.window_size[0]), static_cast<int> (camera.window_size[1]));
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCameraClipDistances (double near, double far)
{
//rens_->InitTraversal ();
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetClippingRange (near, far);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCameraFieldOfView (double fovy)
{
//rens_->InitTraversal ();
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetUseHorizontalViewAngle (0);
cam->SetViewAngle (fovy * 180.0 / M_PI);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::resetCameraViewpoint (const std::string &id)
{
// TODO Cloud actor is not used
vtkSmartPointer<vtkMatrix4x4> camera_pose;
static CloudActorMap::iterator it = cloud_actor_map_->find (id);
if (it != cloud_actor_map_->end ())

22
modules/viz/src/viz3d_impl.hpp
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@ -121,27 +121,7 @@ public:
/** \brief Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
* \param[in] id the point cloud object id (default: cloud) */
void resetCameraViewpoint (const String& id = "cloud");
/** \brief Set the camera pose given by position, viewpoint and up vector
* \param[in] pos camera location
* \param[in] view the view point of the camera
* \param[in] up the view up direction of the camera */
void setCameraPosition (const cv::Vec3d& pos, const cv::Vec3d& view, const cv::Vec3d& up);
/** \brief Set the camera location and viewup according to the given arguments
* \param[in] pos_x,y,z the x,y,z coordinate of the camera location
* \param[in] up_x,y,z the x,y,z component of the view up direction of the camera */
void setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z);
/** \brief Set the camera parameters via an intrinsics and and extrinsics matrix
* \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
* \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
* \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters */
void setCameraParameters (const cv::Matx33f& intrinsics, const Affine3f& extrinsics);
void setCameraParameters (const Camera &camera);
void setCameraClipDistances (double near, double far);
void setCameraFieldOfView (double fovy);
void getCameras (Camera& camera);
//to implement Viz3d set/getViewerPose()
void setViewerPose(const Affine3f &pose);
Affine3f getViewerPose();

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